基于层次任务网络的应急资源协作规划方法

Hierarchical task network based emergency resource coordinated planning approach

应急响应一般涉及多个部门,各参与部门需要通过合理的协调方法规划应对方案,协同使用应急资源是不同部门间应急行动方案制定的关键.为处理规划过程实时产生的资源冲突,文章提出了基于层次任务网络(hierarchical task network,HTN)的多部门分布式协作任务规划框架,将规划方案行动的生成过程作为需要考虑的协作问题,并通过协作过程与规划过程的嵌套,减少规划无效方案而提高协作效率.其次,探究并设计处理重用性资源的协调机制,使用多种优先级判断规则消解资源使用冲突.进一步,在建立的协作框架和资源协调机制的基础上,提出基于HTN的协作规划算法.最后通过实验案例说明了应急资源协作规划方法的应用,并对本方法的有效性和相对于原有方法的效率优势进行了验证.

The departments involved in emergency decision-making are required to perform coordinated planning for a global action plan. The coordination of using emergency resource is a key issue of coordinated planning for an valid emergency response plan. In order to handle the real-time generated emergency resource conflict along with the distributed planning process, an hierarchical task network （HTN） planning process based multi-agent distributed coordinated planning method is designed. The method embeds the coordination process into hierarchical task network （HTN） planning process with the consideration that the action plan generation process should also be coordinated. This method can reduce the generation of useless plan and improve the efficiency of cooperation. Additionally, the coordination mechanism dealing with the reusable resources is developed, and a variety of priority rules are used to resolve resource using conflicts. Next, based on these designs, an hierarchical task network （HTN） based coordinated planning algorithm is proposed and implemented. Finally, an experimental study was presented to demonstrate the application of emergency resource coordinated planning and the validity and the efficiency of the method.